tici: flash bootloader partitions from manifest (#21399)
* move swapping to python * only create downloader if needed * typo * number * add sanity check * boot full check to test * manifest is required argument * implement full hash check * off by one * new manifest * only write tag for system * bump splash * review comments part 1 * trigger update Co-authored-by: Robbe Derks <robbe.derks@gmail.com>pull/21343/head
Willem Melching
GitHub
parent
86630effcf
commit
7c6bf89e04
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@ -104,62 +104,11 @@ function tici_init {
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# Check if AGNOS update is required
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if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
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# Get number of slot to switch to
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CUR_SLOT=$(abctl --boot_slot)
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if [[ "$CUR_SLOT" == "_a" ]]; then
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OTHER_SLOT="_b"
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OTHER_SLOT_NUMBER="1"
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else
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OTHER_SLOT="_a"
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OTHER_SLOT_NUMBER="0"
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fi
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echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
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# Get expected hashes from manifest
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MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
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SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
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SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
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BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
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BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
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echo "Expected hashes:"
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echo "System: $SYSTEM_HASH_EXPECTED"
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echo "Boot: $BOOT_HASH_EXPECTED"
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$DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
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# Read hashes from alternate partitions, should already be flashed by updated
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SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
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BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
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echo "Found hashes:"
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echo "System: $SYSTEM_HASH"
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echo "Boot: $BOOT_HASH"
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if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
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echo "Swapping active slot to $OTHER_SLOT_NUMBER"
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# Clean hashes before swapping to prevent looping
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dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
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dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
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sync
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abctl --set_active "$OTHER_SLOT_NUMBER"
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sleep 1
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sudo reboot
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else
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echo "Hash mismatch, downloading agnos"
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if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
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echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
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# Clean hashes before swapping to prevent looping
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dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
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dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
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sync
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abctl --set_active "$OTHER_SLOT_NUMBER"
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fi
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sleep 1
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sudo reboot
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fi
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sleep 1
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sudo reboot
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fi
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}
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@ -1,18 +1,63 @@
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[
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{
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"name": "system",
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"url": "https://commadist.azureedge.net/agnosupdate/system-96524a331ee8bea6132127fc82fd22bb9cc4b2ec424a81607c73b681c510a467.img.xz",
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"hash": "13842404eaceb5466a028a2eb91db938a20c8ff5bc541599c6b9729a4bb608f5",
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"hash_raw": "96524a331ee8bea6132127fc82fd22bb9cc4b2ec424a81607c73b681c510a467",
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"size": 10737418240,
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"sparse": true
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},
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{
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"name": "boot",
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"url": "https://commadist.azureedge.net/agnosupdate/boot-1d31f0b0afafb27157c26f13226d884aa6f58abf6a6ddc21d928140bef0f539c.img.xz",
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"hash": "1d31f0b0afafb27157c26f13226d884aa6f58abf6a6ddc21d928140bef0f539c",
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"hash_raw": "1d31f0b0afafb27157c26f13226d884aa6f58abf6a6ddc21d928140bef0f539c",
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"size": 14772224,
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"sparse": false
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"sparse": false,
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"full_check": true,
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"has_ab": true
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},
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{
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"name": "abl",
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"url": "https://commadist.azureedge.net/agnosupdate/abl-f73aae9e302eeccebc234c456d059394fb01b2a0307eab19afe3adadf1f2796c.img.xz",
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"hash": "f73aae9e302eeccebc234c456d059394fb01b2a0307eab19afe3adadf1f2796c",
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"hash_raw": "f73aae9e302eeccebc234c456d059394fb01b2a0307eab19afe3adadf1f2796c",
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"size": 274432,
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"sparse": false,
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"full_check": true,
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"has_ab": true
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},
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{
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"name": "xbl",
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"url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz",
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"hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
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"hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
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"size": 3670016,
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"sparse": false,
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"full_check": true,
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"has_ab": true
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},
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{
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"name": "xbl_config",
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"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz",
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"hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
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"hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
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"size": 364544,
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"sparse": false,
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"full_check": true,
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"has_ab": true
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},
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{
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"name": "splash",
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"url": "https://commadist.azureedge.net/agnosupdate/splash-5c61260048f22ede6e6343fabb27f6ff73f9271f4751a01aaf7abf097afc1f08.img.xz",
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"hash": "5c61260048f22ede6e6343fabb27f6ff73f9271f4751a01aaf7abf097afc1f08",
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"hash_raw": "5c61260048f22ede6e6343fabb27f6ff73f9271f4751a01aaf7abf097afc1f08",
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"size": 34226176,
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"sparse": false,
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"full_check": true,
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"has_ab": false
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},
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{
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"name": "system",
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"url": "https://commadist.azureedge.net/agnosupdate/system-96524a331ee8bea6132127fc82fd22bb9cc4b2ec424a81607c73b681c510a467.img.xz",
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"hash": "13842404eaceb5466a028a2eb91db938a20c8ff5bc541599c6b9729a4bb608f5",
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"hash_raw": "96524a331ee8bea6132127fc82fd22bb9cc4b2ec424a81607c73b681c510a467",
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"size": 10737418240,
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"sparse": true,
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"full_check": false,
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"has_ab": true
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}
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]
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@ -10,6 +10,8 @@ from typing import Generator
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from common.spinner import Spinner
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SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
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class StreamingDecompressor:
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def __init__(self, url: str) -> None:
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@ -39,7 +41,7 @@ class StreamingDecompressor:
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self.sha256.update(result)
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return result
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SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
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def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
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# https://source.android.com/devices/bootloader/images#sparse-format
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magic = struct.unpack("I", f.read(4))[0]
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@ -74,25 +76,75 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
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raise Exception("Unhandled sparse chunk type")
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def flash_partition(cloudlog, spinner, target_slot, partition):
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cloudlog.info(f"Downloading and writing {partition['name']}")
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def get_target_slot_number():
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current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip()
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return 1 if current_slot == "_a" else 0
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downloader = StreamingDecompressor(partition['url'])
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with open(f"/dev/disk/by-partlabel/{partition['name']}{target_slot}", 'wb+') as out:
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def slot_number_to_suffix(slot_number):
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assert slot_number in (0, 1)
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return '_a' if slot_number == 0 else '_b'
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def get_partition_path(target_slot_number, partition):
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path = f"/dev/disk/by-partlabel/{partition['name']}"
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if partition.get('has_ab', True):
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path += slot_number_to_suffix(target_slot_number)
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return path
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def verify_partition(target_slot_number, partition):
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full_check = partition['full_check']
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path = get_partition_path(target_slot_number, partition)
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partition_size = partition['size']
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with open(path, 'rb+') as out:
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if full_check:
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raw_hash = hashlib.sha256()
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pos = 0
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chunk_size = 1024 * 1024
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while pos < partition_size:
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n = min(chunk_size, partition_size - pos)
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raw_hash.update(out.read(n))
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pos += n
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return raw_hash.hexdigest().lower() == partition['hash_raw'].lower()
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else:
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out.seek(partition_size)
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return out.read(64) == partition['hash_raw'].lower().encode()
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def clear_partition_hash(target_slot_number, partition):
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path = get_partition_path(target_slot_number, partition)
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with open(path, 'wb+') as out:
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partition_size = partition['size']
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# Check if partition is already flashed
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out.seek(partition_size)
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if out.read(64) == partition['hash_raw'].lower().encode():
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cloudlog.info(f"Already flashed {partition['name']}")
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return
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# Clear hash before flashing
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out.seek(partition_size)
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out.write(b"\x00" * 64)
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out.seek(0)
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os.sync()
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def flash_partition(target_slot_number, partition, cloudlog, spinner=None):
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cloudlog.info(f"Downloading and writing {partition['name']}")
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if verify_partition(target_slot_number, partition):
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cloudlog.info(f"Already flashed {partition['name']}")
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return
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downloader = StreamingDecompressor(partition['url'])
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# Clear hash before flashing in case we get interrupted
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full_check = partition['full_check']
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if not full_check:
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clear_partition_hash(target_slot_number, partition)
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path = get_partition_path(target_slot_number, partition)
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with open(path, 'wb+') as out:
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partition_size = partition['size']
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# Flash partition
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if partition['sparse']:
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raw_hash = hashlib.sha256()
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@ -120,17 +172,23 @@ def flash_partition(cloudlog, spinner, target_slot, partition):
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# Write hash after successfull flash
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os.sync()
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out.write(partition['hash_raw'].lower().encode())
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if not full_check:
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out.write(partition['hash_raw'].lower().encode())
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def flash_agnos_update(manifest_path, cloudlog, spinner=None):
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def swap(manifest_path, target_slot_number):
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update = json.load(open(manifest_path))
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for partition in update:
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if not partition.get('full_check', False):
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clear_partition_hash(target_slot_number, partition)
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subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True)
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def flash_agnos_update(manifest_path, target_slot_number, cloudlog, spinner=None):
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update = json.load(open(manifest_path))
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current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip()
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target_slot = "_b" if current_slot == "_a" else "_a"
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target_slot_number = "0" if target_slot == "_a" else "1"
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cloudlog.info(f"Current slot {current_slot}, target slot {target_slot}")
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cloudlog.info(f"Target slot {target_slot_number}")
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# set target slot as unbootable
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os.system(f"abctl --set_unbootable {target_slot_number}")
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@ -140,7 +198,7 @@ def flash_agnos_update(manifest_path, cloudlog, spinner=None):
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for retries in range(10):
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try:
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flash_partition(cloudlog, spinner, target_slot, partition)
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flash_partition(target_slot_number, partition, cloudlog, spinner)
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success = True
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break
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@ -154,21 +212,39 @@ def flash_agnos_update(manifest_path, cloudlog, spinner=None):
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cloudlog.info(f"Failed to flash {partition['name']}, aborting")
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raise Exception("Maximum retries exceeded")
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cloudlog.info(f"AGNOS ready on slot {target_slot}")
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cloudlog.info(f"AGNOS ready on slot {target_slot_number}")
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def verify_agnos_update(manifest_path, target_slot_number):
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update = json.load(open(manifest_path))
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return all(verify_partition(target_slot_number, partition) for partition in update)
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if __name__ == "__main__":
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import logging
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import time
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import sys
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import argparse
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if len(sys.argv) != 2:
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print("Usage: ./agnos.py <manifest.json>")
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exit(1)
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parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("--swap", action="store_true", help="Verify and perform swap, downloads if necessary")
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parser.add_argument("manifest", help="Manifest json")
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args = parser.parse_args()
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spinner = Spinner()
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spinner.update("Updating AGNOS")
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time.sleep(5)
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logging.basicConfig(level=logging.INFO)
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flash_agnos_update(sys.argv[1], logging, spinner)
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target_slot_number = get_target_slot_number()
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if args.swap:
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while not verify_agnos_update(args.manifest, target_slot_number):
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logging.error("Verification failed. Flashing AGNOS")
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flash_agnos_update(args.manifest, target_slot_number, logging, spinner)
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logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
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swap(args.manifest, target_slot_number)
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else:
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flash_agnos_update(args.manifest, target_slot_number, logging, spinner)
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@ -219,7 +219,7 @@ def finalize_update() -> None:
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def handle_agnos_update(wait_helper):
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from selfdrive.hardware.tici.agnos import flash_agnos_update
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from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
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cur_version = HARDWARE.get_os_version()
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updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
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@ -236,7 +236,8 @@ def handle_agnos_update(wait_helper):
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set_offroad_alert("Offroad_NeosUpdate", True)
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manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json")
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flash_agnos_update(manifest_path, cloudlog)
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target_slot_number = get_target_slot_number()
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flash_agnos_update(manifest_path, target_slot_number, cloudlog)
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set_offroad_alert("Offroad_NeosUpdate", False)
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Loading…
Reference in New Issue